/**
 * Copyright (C) BFH www.bfh.ch 2011
 * Code written by: Patrick Dobler, Marc Folly
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
package ch.bfh.ti.kybernetik.lego.ki;

import ch.bfh.ti.kybernetik.lego.ki.RobKIFactr.Wesen;

/**
 * This Class implements the Wesen2 defined by Braitenberg.
 * 
 */
class RobKITyp2 extends AbstrRobKI {

	public RobKITyp2(Wesen wesen) {
		super(wesen);
	}

	@Override
	public void calculateNewRoboterMotorSpeed(int lightSensorLeftValue, int lightSensorRightValue) {
		int valueRight = RoboterKIUtils.calculateMotorSpeedProportional(getLightMin(), getLightMax(), lightSensorLeftValue);

		int valueLeft = RoboterKIUtils.calculateMotorSpeedProportional(getLightMin(), getLightMax(), lightSensorRightValue);

		setMotorSpeedLeft(valueLeft);
		setMotorSpeedRight(valueRight);
	}

	@Override
	public String getRoboterKIName() {
		// Crossed and Proportional
		return "W2: X =>=>";
	}

}
